机器人学基础-第6章-机器人传感器-蔡自兴摘要.ppt

中南大学 蔡自兴，谢 斌 zxcai, xiebin@mail.csu.edu.cn 2010;Ch.6 Robot Sensors;6.1 Introduction to Robot Sensors;Robot sensors can be divided into two main categories: Internal state Detect position and orientation in the coordinate of the robot itself, deal with the detection of variables such as arm joint position, velocity, and acceleration. External state Localize the robot to the environment, deal with the detection of variables such range, proximity, and touch.;Most needed sensory abilities for robot: Simple Touch: detect whether the object is there or not. Compound Touch: detect the size and sha